. Author manuscript; available in PMC: 2016 Nov 3.

Published in final edited form as: IEEE ASME Trans Mechatron. 2015 Mar 30;20(6):2876–2889. doi: 10.1109/TMECH.2015.2396894

TABLE I.

Estimated Joint Stiffness Values

Configuration	k₁ (Nm/rad)
Experiment, 0.2-N transverse load	0.36
Experiment, cable-driven bending	0.48
FEA, 10-N transverse load	0.57
FEA, 0.1-Nm moment	0.77